This class describes Transmit PDOs, meaning PDOs that send data from the device to the host. More...

#include <TPDO.h>

Inheritance diagram for icl_hardware::canopen_schunk::TPDO:

Public Types
typedef boost::shared_ptr< TPDO >	Ptr
	Convenience typedef to use PDOs with shared pointers. More...

typedef std::vector< boost::shared_ptr< TPDO > >	PtrList
	Convenience typedef to use PDO lists with shared pointers. More...

Public Types inherited from icl_hardware::canopen_schunk::PDO
enum	eTransmissionType { SYNCHRONOUS_ACYCLIC = 0, RTR_ONLY_SYNCHRONOUS = 252, RTR_ONLY_EVENT_DRIVEN = 253, EVENT_DRIVEN_MANUFACTURER_SPECIFIC = 254, EVENT_DRIVEN_PROFILE_SPECIFIC = 255, SYNCHRONOUS_CYCLIC = 1 }
	Transmission types of a PDO, needed when mapping PDOs. More...

typedef std::vector< MappingConfiguration >	MappingConfigurationList
	The MappingConfigurationList holds multiple Mapping configurations. The Mapping of a single PDO is defined by one such configuration list. More...

typedef std::vector< Mapping >	MappingList

typedef std::vector< PDOStringMatch >	PDOStringMatchVec

typedef boost::shared_ptr< PDO >	Ptr
	Convenience typedef to use PDOs with shared pointers. More...

typedef std::vector< boost::shared_ptr< PDO > >	PtrList
	Convenience typedef to use PDO lists with shared pointers. More...

Public Member Functions
PDOStringMatchVec	appendMapping (SDO &sdo, const MappingConfigurationList &mappings, const eTransmissionType &transmission_type, const bool dummy_mapping=false, const uint8_t cyclic_timeout_cycles=0)
	Appends one or more mapping parameters to the existing mapping. Note that the PDO will be disabled while appending another mapping. More...

void	registerNotifyCallback (const boost::function< void()> &f)
	Register a notification callback function for incoming PDO messages. More...

PDOStringMatchVec	remap (SDO &sdo, const MappingConfigurationList &mappings, const eTransmissionType &transmission_type, const bool dummy_mapping=false, const uint8_t cyclic_timeout_cycles=0)
	Configure a PDO by sending some SDO packages. This can be either done during NMT state pre-operational or during the NMT state Operational. If an empty mapping is given, we leave the mapping as is. More...

	TPDO (const uint8_t node_id, const uint8_t pdo_nr, const CanDevPtr &can_device)
	Construct a new TPDO. More...

void	update (const CanMsg &msg)
	update updates the TPDO data with newly received messages More...

void	upload ()
	Upload data from the slave to the master (Node to PC) More...

Public Member Functions inherited from icl_hardware::canopen_schunk::PDO
PDOStringMatchVec	appendMapping (SDO &sdo, const MappingConfigurationList &mappings, const eTransmissionType &transmission_type, const uint16_t pdo_cob_id, const uint16_t pdo_communication_parameter, const uint16_t pdo_mapping_parameter, const bool dummy_mapping=false, const uint8_t cyclic_timeout_cycles=0)
	Appends one or more mapping parameters to the existing mapping. Note that the PDO will be disabled while appending another mapping. More...

	PDO (const uint8_t node_id, const uint8_t pdo_nr, const CanDevPtr &can_device)
	Construct a new PDO. More...

PDOStringMatchVec	remap (SDO &sdo, const MappingConfigurationList &mappings, const eTransmissionType &transmission_type, const uint16_t pdo_cob_id, const uint16_t pdo_communication_parameter, const uint16_t pdo_mapping_parameter, const bool dummy_mapping=false, const uint8_t cyclic_timeout_cycles=0)
	Configure a PDO by sending some SDO packages. This can be either done during NMT state pre-operational or during the NMT state Operational. If an empty mapping is given, we leave the mapping as is. More...

Static Public Attributes
static const uint16_t	OD_TPDO_COMMUNICATION_MIN = 0x1800

static const uint16_t	OD_TPDO_MAPPING_PARAMETER_MIN = 0x1A00

Private Attributes
std::vector< uint8_t >	m_data_buffer

boost::mutex	m_data_buffer_mutex

boost::condition_variable	m_data_buffer_updated_cond

bool	m_data_update_received

std::vector< boost::function< void()> >	m_notify_callbacks

Additional Inherited Members
Public Attributes inherited from icl_hardware::canopen_schunk::PDO
MappingList	m_mapping_list
	List of all mappings inside this PDO. More...

Protected Attributes inherited from icl_hardware::canopen_schunk::PDO
CanDevPtr	m_can_device
	Can Device handle. More...

uint8_t	m_node_id
	CANOPEN ID of the node this PDO belongs to. More...

uint8_t	m_pdo_nr
	The PDO number inside the logical device. Theoretically this can be in 0 to 511. More...

Detailed Description

This class describes Transmit PDOs, meaning PDOs that send data from the device to the host.

Definition at line 33 of file TPDO.h.

Member Typedef Documentation

typedef boost::shared_ptr<TPDO> icl_hardware::canopen_schunk::TPDO::Ptr

Convenience typedef to use PDOs with shared pointers.

Definition at line 37 of file TPDO.h.

typedef std::vector<boost::shared_ptr<TPDO> > icl_hardware::canopen_schunk::TPDO::PtrList

Convenience typedef to use PDO lists with shared pointers.

Definition at line 39 of file TPDO.h.

Constructor & Destructor Documentation

icl_hardware::canopen_schunk::TPDO::TPDO	(	const uint8_t	node_id,
		const uint8_t	pdo_nr,
		const CanDevPtr &	can_device
	)

Construct a new TPDO.

Parameters

node_id	ID of the node this TPDO belongs to
pdo_nr	numbering of this TPDO inside the node
can_device	handle to the CAN device

Definition at line 31 of file TPDO.cpp.

Member Function Documentation

PDO::PDOStringMatchVec icl_hardware::canopen_schunk::TPDO::appendMapping	(	SDO &	sdo,
		const MappingConfigurationList &	mappings,
		const eTransmissionType &	transmission_type,
		const bool	dummy_mapping = `false`,
		const uint8_t	cyclic_timeout_cycles = `0`
	)

Appends one or more mapping parameters to the existing mapping. Note that the PDO will be disabled while appending another mapping.

Note: Do not call this method by hand, but use the wrapper functions in the DS301Node class. Otherwise the node will not know of the new mapping and won't be able to find a PDO by it's identifier string.

Parameters

sdo	Handle to the SDO object
mappings	List of MappingConfigurations that should be mapped into this PDO
transmission_type	Transmission type of this PDO
dummy_mapping	if set to True, no download to the device will be performed, but the mapping will be done on host side. This is especially useful if a device has preconfigured PDOs which you like to use.
cyclic_timeout_cycles	If the transmission type SYNCHRONOUS_CYCLIC is used, this parameter defines the PDO's frequency by defining the number of cycles between two send attempts. For example, a parameter value of 4 means, that the PDO is sent every 5th cycle.

Returns: PDOStringMatchVec Vector of string to vec_index matchings. If an error occurs, the returned vector will be empty.

Definition at line 104 of file TPDO.cpp.

void icl_hardware::canopen_schunk::TPDO::registerNotifyCallback ( const boost::function< void()> & f )

Register a notification callback function for incoming PDO messages.

Parameters

f	Notification function that should be called

Definition at line 125 of file TPDO.cpp.

PDO::PDOStringMatchVec icl_hardware::canopen_schunk::TPDO::remap	(	SDO &	sdo,
		const MappingConfigurationList &	mappings,
		const eTransmissionType &	transmission_type,
		const bool	dummy_mapping = `false`,
		const uint8_t	cyclic_timeout_cycles = `0`
	)

Configure a PDO by sending some SDO packages. This can be either done during NMT state pre-operational or during the NMT state Operational. If an empty mapping is given, we leave the mapping as is.

Note: Do not call this method by hand, but use the wrapper functions in the DS301Node class. Otherwise the node will not know of the new mapping and won't be able to find a PDO by it's identifier string.

Parameters

sdo	Handle to the SDO object
mappings	List of MappingConfigurations that should be mapped into this PDO
transmission_type	Transmission type of this PDO
dummy_mapping	if set to True, no download to the device will be performed, but the mapping will be done on host side. This is especially useful if a device has preconfigured PDOs which you like to use.
cyclic_timeout_cycles	If the transmission type SYNCHRONOUS_CYCLIC is used, this parameter defines the PDO's frequency by defining the number of cycles between two send attempts. For example, a parameter value of 4 means, that the PDO is sent every 5th cycle.

Returns: PDOStringMatchVec Vector of string to vec_index matchings. If an error occurs, the returned vector will be empty.

Definition at line 84 of file TPDO.cpp.

void icl_hardware::canopen_schunk::TPDO::update ( const CanMsg & msg )

update updates the TPDO data with newly received messages

Parameters

msg	can message that was preciously identified as TPDO message for this specific TPDO

Definition at line 37 of file TPDO.cpp.

void icl_hardware::canopen_schunk::TPDO::upload ( )

Upload data from the slave to the master (Node to PC)

Currently this calls the notification callbacks registered to this PDO.

Definition at line 76 of file TPDO.cpp.

Member Data Documentation

std::vector<uint8_t> icl_hardware::canopen_schunk::TPDO::m_data_buffer

private

Definition at line 132 of file TPDO.h.

boost::mutex icl_hardware::canopen_schunk::TPDO::m_data_buffer_mutex

private

Definition at line 129 of file TPDO.h.

boost::condition_variable icl_hardware::canopen_schunk::TPDO::m_data_buffer_updated_cond

private

Definition at line 130 of file TPDO.h.

bool icl_hardware::canopen_schunk::TPDO::m_data_update_received

private

Definition at line 131 of file TPDO.h.

std::vector<boost::function <void()> > icl_hardware::canopen_schunk::TPDO::m_notify_callbacks

private

Definition at line 127 of file TPDO.h.

const uint16_t icl_hardware::canopen_schunk::TPDO::OD_TPDO_COMMUNICATION_MIN = 0x1800

static

Definition at line 41 of file TPDO.h.

const uint16_t icl_hardware::canopen_schunk::TPDO::OD_TPDO_MAPPING_PARAMETER_MIN = 0x1A00

static

Definition at line 42 of file TPDO.h.

The documentation for this class was generated from the following files:

Public Types

Public Member Functions

Static Public Attributes

Private Attributes

Additional Inherited Members

Detailed Description

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation